Running Error

[selinawei]

I have built all the dependencies successfully, but got error information ''*Segmentation fault (core dumped)' when running evaluate.py.

Whole terminal information shown as below,

Python evaluation script for X-library

Python executable: /home/selina/anaconda3/envs/esai/bin/python
Script located here: /home/selina/catkin_ws/src/x_evaluate/test

Calling catkin_find x_evaluate evaluate
Assuming '/home/selina/catkin_ws/src/x_evaluate' to be the x_evaluate source root
Reading 'test/shapes.yaml'
Using the following 'evaluate' executable: /home/selina/catkin_ws/devel/lib/x_evaluate/evaluate

Processing the following datasets: Shapes 6DOF

Processing dataset 1 of 1, writing to 001_shapes_6dof
Overwriting 'p': '[0.3973783621825099, 1.4634966189993928, 1.277009988555527]' --> '[4.346317210366623, 1.7357815456832344, 1.358592863606204]'
Overwriting 'v': '[0.0, 0.0, 0.0]' --> '[0.004762307341565391, 0.01271341553971565, -0.013871390353688104]'
Overwriting 'q': '[0.007389779455468986, -0.06762916364373475, 0.8856791184114311, -0.4592866061561111]' --> '[-0.4831137434015021, 0.5017276809406012, -0.5046097649986157, 0.5101366779428779]'
Running /home/selina/catkin_ws/devel/lib/x_evaluate/evaluate --input_bag datasets/shapes_6dof.bag --image_topic /dvs/image_raw --pose_topic /optitrack/davis --imu_topic /dvs/imu --events_topic /dvs/events --params_file outputs/tmp.yaml --output_folder outputs/001_shapes_6dof --frontend XVIO
Running /home/selina/catkin_ws/devel/lib/x_evaluate/evaluate Fri Mar 15 12:36:59 2024

Reading config 'outputs/tmp.yaml' was successful
Reading rosbag 'datasets/shapes_6dof.bag'
Initializing at time 1468939993.1082666
Processing rosbag from time 1468939993.108266602 to 1468940052.833236496

0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
*Segmentation fault (core dumped)
################### ################
Initial state:

Timestamp: 1468939993.100063086
p [x,y,z]: 4.34632 1.73578 1.35859
v [x,y,z]: 0.00476231 0.0127134 -0.0138714
q [w,x,y,z]: -0.483114 0.501728 -0.50461 0.510137
b_w [x,y,z]: 0 0 0
b_a [x,y,z]: 0 0 0
p_array: 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
q_array: 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
f_array: 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

################### ################
Running dataset completed, analyzing outputs now...
[1/4] Evaluating trajectory
Processing '{'name': 'Shapes 6DOF', 'rosbag': 'datasets/shapes_6dof.bag', 'events_topic': '/dvs/events', 'image_topic': '/dvs/image_raw', 'pose_topic': '/optitrack/davis', 'imu_topic': '/dvs/imu', 'params': '/home/selina/catkin_ws/src/x_evaluate/params_rpg_davis.yaml', 'override_params': {'p': [4.346317210366623, 1.7357815456832344, 1.358592863606204], 'v': [0.004762307341565391, 0.01271341553971565, -0.013871390353688104], 'q': [-0.4831137434015021, 0.5017276809406012, -0.5046097649986157, 0.5101366779428779]}}' failed: ufunc 'isnan' not supported for the input types, and the inputs could not be safely coerced to any supported types according to the casting rule ''safe''
Traceback (most recent call last):
File "/home/selina/catkin_ws/src/x_evaluate/test/evaluate.py", line 105, in main
d = process_dataset(args.evaluate, dataset, output_folder, tmp_yaml_filename, eval_config,
File "/home/selina/catkin_ws/src/x_evaluate/src/x_evaluate/scriptlets.py", line 130, in process_dataset
d.trajectory_data = te.evaluate_trajectory(df_poses, df_groundtruth, df_imu_bias)
File "/home/selina/catkin_ws/src/x_evaluate/src/x_evaluate/trajectory_evaluation.py", line 34, in evaluate_trajectory
traj_est, d.raw_est_t_xyz_wxyz = convert_to_evo_trajectory(df_poses, prefix="estimated_")
File "/home/selina/catkin_ws/src/x_evaluate/src/x_evaluate/utils.py", line 49, in convert_to_evo_trajectory
return convert_t_xyz_wxyz_to_evo_trajectory(t_xyz_wxyz, filter_invalid_entries), t_xyz_wxyz
File "/home/selina/catkin_ws/src/x_evaluate/src/x_evaluate/utils.py", line 53, in convert_t_xyz_wxyz_to_evo_trajectory
nan_percentage, traj_has_nans = get_nans_in_trajectory(t_xyz_wxyz)
File "/home/selina/catkin_ws/src/x_evaluate/src/x_evaluate/utils.py", line 64, in get_nans_in_trajectory
traj_has_nans = np.any(np.isnan(t_xyz_wxyz), axis=1)
TypeError: ufunc 'isnan' not supported for the input types, and the inputs could not be safely coerced to any supported types according to the casting rule ''safe''

Traceback (most recent call last):
File "/home/selina/catkin_ws/src/x_evaluate/test/evaluate.py", line 146, in
main()
File "/home/selina/catkin_ws/src/x_evaluate/test/evaluate.py", line 124, in main
te.create_summary_info(summary, args.output_folder)
File "/home/selina/catkin_ws/src/x_evaluate/src/x_evaluate/trajectory_evaluation.py", line 400, in create_summary_info
table = create_trajectory_result_table_wrt_traveled_dist(summary)
File "/home/selina/catkin_ws/src/x_evaluate/src/x_evaluate/trajectory_evaluation.py", line 115, in create_trajectory_result_table_wrt_traveled_dist
data = np.empty((len(pos_errors), 6), dtype=np.float)
File "/home/selina/.local/lib/python3.8/site-packages/numpy/init.py", line 305, in getattr
raise AttributeError(former_attrs[attr])
AttributeError: module 'numpy' has no attribute 'float'.
np.float was a deprecated alias for the builtin float. To avoid this error in existing code, use float by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64 here.
The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at:
https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations